User manual

Copyright © Dr Robot Inc. 2005
45
ival = SetMotorPolarity5 (short polarity); // Motor #5
ival = SetMotorPolarity6 (short polarity); // Motor #6
ival = SetMotorPolarity (short channel, short polarity);
// motor#1, 2, 3, 4, 5, or 6
Parameter: short polarity; //1 or -1
short channel; // 0, 1, 2, 3, 4, or 5 for Sonar #1, 2, 3, 4, 5, 6
Return value: void ival;
82 void EnableDcMotor (short channel);
83 void DisableDcMotor ( short channel);
Description:
These functions are obsolete. Please see function ResumeDcMotor(short channel) and
SuspendDcMotor(short channel).
84 void ResumeDcMotor (short channel);
85 void SuspendDcMotor (short channel);
Description:
ResumeDcMotor resumes the specified DC motor control channel.
SuspendDcMotor suspends the specified DC motor control channel. PWM output is all low.
Syntax: ResumeDcMotor (channel);
SuspendDcMotor (channel);
Parameter: short channel; // 0, 1, 2, 3, 4, or 5
Return value: void
Remarks:
1. All motor control channels are initially suspended when the system boot-up.
86 void SetDcMotorPositionControlPID (short channel, short Kp, short Kd, short Ki_x100);
87 void SetDcMotorVelocityControlPID (short channel, short Kp, short Kd, short Ki_x100);
Description:
SetDcMotorPositionControlPID sets up the PID control parameters of the specified DC
motor channel for position control.